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m3_collision_checking_fcl package from benchmarks repo

c1_rrbot_joint_trajectory_controller c2_diffbot_diff_driver_controller c3_rrbot_forward_command_controller_position c4_rrbot_forward_command_controller_velocity c5_rrbot_forward_command_controller_acceleration b1_visual_slam b2_map_localization b3_apriltag_detection d1_xarm6_planning_and_traj_execution d2_collision_checking_fcl d3_collision_checking_bullet d4_inverse_kinematics_kdl d5_inverse_kinematics_lma d6_direct_kinematics d8_single_arm_static_avoidance_perception m1_turtle_tf2_demo m2_xarm6_planning_and_traj_execution m3_collision_checking_fcl m4_collision_checking_bullet m5_inverse_kinematics_kdl m6_inverse_kinematics_lma m7_direct_kinematics n1_intra_process n2_inter_process n3_intra_network n4_intra_network_security n5_intra_network_vpn n6_intra_network_security_vpn n7_inter_network_vpn n8_inter_network_vpn_security benchmark_utilities ros2benchmark tracetools_benchmark a1_perception_2nodes a2_rectify a3_stereo_image_proc a4_depth_image_proc a5_resize

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Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robotperf/benchmarks.git
VCS Type git
VCS Version main
Last Updated 2024-07-10
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A meta computational graph that uses [moveit2](https://github.com/ros-planning/moveit2) to compute collision checking with the [FCL](https://github.com/flexible-collision-library/fcl) library between a UFACTORY xArm6 manipulator and a cube-shaped collision object. Used to demonstrate a complex tranformation using the [geometry2](https://github.com/ros2/geometry2) package.

Additional Links

No additional links.

Maintainers

  • Alejandra Martínez Fariña

Authors

  • Alejandra Martínez Fariña
benchmarks/meta/m3_collision_checking_fcl/README.md

m3_collision_checking_fcl

Meta computational graph composed by collision checking between xArm6 and a box using FCL library.

ID

m3

Description

A meta computational graph that uses moveit2 to compute collision checking with the FCL library between a UFACTORY xArm6 manipulator and a cube-shaped collision object. Used to demonstrate a complex tranformation using the geometry2 package.

Reproduction Steps

Refer to https://github.com/robotperf/benchmarks/tree/main/benchmarks/manipulation/d2_collision_checking_fcl and review the launch files to reproduce this package.

Results

Type Hardware Metric Value Category Timestamp Note Data Source
:white_circle: Intel i7-12700H (ROBOTCORE Transforms) latency 0.0407 workstation 31-08-2023 mean 0.0075 ms, RMS 0.0090 ms, max 0.0407 ms, min 0.0034 ms simulation
:white_circle: Intel i7-12700H latency 0.5183 workstation 31-08-2023 mean 0.0248 ms, RMS 0.0650 ms, max 0.5183 ms, min 0.0053 ms simulation
:white_circle: Intel i7-8700K latency 0.1739 workstation 08-09-2023 ✋mean_benchmark 0.0179, rms_benchmark 0.0285, max_benchmark 0.1739, min_benchmark 0.0023, lost messages 0.00 % simulation
:white_circle: Intel i7-8700K power 13.846317291259766 workstation 08-09-2023 ✋ simulation
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
ament_lint_auto
ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged m3_collision_checking_fcl at Robotics Stack Exchange

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